Matches in SemOpenAlex for { <https://semopenalex.org/work/W2277927960> ?p ?o ?g. }
- W2277927960 abstract "How can a $20 toy quadcopter hover using a weak Internet of Things mini-board and a web-cam? In the pose-estimation problem we need to rotate a set of $n$ marker (points) and choose one of their n! permutations, so that the sum of squared corresponding distances to another ordered set of $n$ markers is minimized. A popular heuristic for this problem is ICP. We prove that emph{every} set has a weighted subset (core-set) of constant size (independent of $n$), such that computing the optimal orientation of the small core-set would yield emph{exactly} the same result as using the full set of $n$ markers. A deterministic algorithm for computing this core-set in $O(n)$ time is provided, using the Caratheodory Theorem from computational geometry. We developed a system that enables low-cost and real-time tracking by computing this core-set on the cloud in one thread, and uses the last computed core-set locally in a parallel thread. Our experimental results show how these core-sets can boost the tracking time and quality for large and even small sets of both IR and RGB markers on a toy quadcopter. Open source code for the system and algorithm is provided" @default.
- W2277927960 created "2016-06-24" @default.
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- W2277927960 date "2015-11-30" @default.
- W2277927960 modified "2023-09-27" @default.
- W2277927960 title "Low-cost and Faster Tracking Systems Using Core-sets for Pose-Estimation." @default.
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